CN104800995A - Boom positioning equipment, firefighting truck and method - Google Patents
Boom positioning equipment, firefighting truck and method Download PDFInfo
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- CN104800995A CN104800995A CN201510096946.7A CN201510096946A CN104800995A CN 104800995 A CN104800995 A CN 104800995A CN 201510096946 A CN201510096946 A CN 201510096946A CN 104800995 A CN104800995 A CN 104800995A
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- 238000001514 detection method Methods 0.000 claims description 37
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- 230000008602 contraction Effects 0.000 description 3
- 230000004888 barrier function Effects 0.000 description 2
- 238000003825 pressing Methods 0.000 description 2
- 238000010008 shearing Methods 0.000 description 2
- 238000005507 spraying Methods 0.000 description 2
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- A—HUMAN NECESSITIES
- A62—LIFE-SAVING; FIRE-FIGHTING
- A62C—FIRE-FIGHTING
- A62C27/00—Fire-fighting land vehicles
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- A—HUMAN NECESSITIES
- A62—LIFE-SAVING; FIRE-FIGHTING
- A62C—FIRE-FIGHTING
- A62C37/00—Control of fire-fighting equipment
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Abstract
The invention discloses boom positioning equipment, a firefighting truck and a method. The boom positioning equipment comprises a boom state detecting device and a control device, wherein the boom state detecting device detects the current position state of a boom of the truck and transmitting current position state information to the control device; the control device controls each executing mechanism to execute actions according to the current position state information and pre-stored calibrated position state information to move the boom from the current position to the calibrated position, so that the boom is automatically positioned, and the positioning efficiency of the boom is improved. Further, the condition that a driving cab, a pump chamber and other components are crashed due to inappropriate manual operation can be prevented, a forcible entry device storage box and the like are prevented from being damaged, and safety of the positioning operation process is improved.
Description
Technical Field
The invention relates to the field of engineering machinery, in particular to arm support positioning equipment, a fire truck and a method.
Background
The multifunctional forcible entry fire truck (as shown in fig. 1A and fig. 1B) is a fire truck with forcible entry devices such as a forcible entry hammer, a grab bucket and a hydraulic shear on the basis of a lifting type fire truck, the forcible entry devices can be replaced according to different requirements when fire fighting, lifting, forcible entry and emergency rescue are carried out, the application range is wide, various complex fires and heavy emergency rescue work can be handled, and the multifunctional forcible entry fire truck is necessary equipment for ensuring the safety of life people living in high-rise buildings and reducing the disaster loss in large and medium cities. The multifunctional forcible entry fire truck can not only complete the high-spraying fire extinguishing work, but also replace different forcible entry devices in a complex working environment, and can rapidly open an escape passage by forcible entry hammering a crushed concrete wall and a thin steel plate; the hydraulic shears can tear the barriers such as the advertising board and the like which can block the fire extinguishing action; when buildings such as a factory building and the like are in fire, the roof can be torn by the grab bucket to implement the fire extinguishing work, and the multifunctional vehicle is the most advanced domestic multifunctional vehicle for lifting, breaking and spraying.
A breaking-in device storage box 11 is arranged behind the cab and in front of the pump chamber and used for storing a corresponding breaking-in device, and comprises three fixed positions for respectively storing a hydraulic shear, a grab bucket and a breaking-in hammer (for example, a hydraulic shear storage position a, a grab bucket storage position B and a breaking-in hammer storage position C shown in fig. 1B). When the multifunctional forcible entry fire truck does not work, the forcible entry device is respectively placed in a forcible entry device storage box between a cab and a pump chamber, in the process of rescue, an operator respectively stretches a rotary table and each arm to a proper position according to experience, and a method is used for ensuring that a quick change connector (also called a quick connector, mainly a device for improving the efficiency of replacing working components such as a forcible entry hammer, a hydraulic shear and a grab bucket during the work of the multifunctional forcible entry fire truck) can vertically move without colliding peripheral components until the work of replacing the forcible entry device is completed, so that the follow-up rescue work can be smoothly carried out.
An operator manually controls the rotation, the amplitude rising and falling of the main arm, the extension and contraction of the main arm, the expansion and contraction of the front crank arm, the expansion and contraction of the rear crank arm and the like of the multifunctional forcible entry fire truck according to needs, the controller transmits an output signal to a corresponding execution mechanism after carrying out logic judgment on an input signal, the execution mechanism drives the arm support to reach a corresponding position, and the operator manually observes the current position of the quick change coupler to judge the next operation process and repeats the operation until the arm support reaches a state suitable for replacing the forcible entry device (as shown in fig. 2).
However, the above method completely depends on the subjective judgment of the operator, the operator plays a leading role in the process, and the manual positioning method has at least the following defects:
firstly, an operator is seriously influenced by the external environment during actual rescue, the storage box of the breaking-in device is relatively close to the cab and the pump chamber, and the operator is easy to collide the components when the operator is not operated properly;
secondly, in order to quickly replace the breaking-in device, an operator may reduce partial accuracy during positioning, and the breaking-in device is replaced at an improper position, so that a storage box of the breaking-in device is easily damaged;
thirdly, the state of the arm support needs to be adjusted repeatedly by manual operation, so that the efficiency of replacing the breaking-in device is greatly reduced.
Therefore, although the existing method can realize the function of replacing the breaking-in device, the realization efficiency is low, and the requirements of safety and high efficiency in emergency rescue occasions cannot be met.
Disclosure of Invention
The invention needs to solve a technical problem that: the manual operation multifunctional forcible entry fire truck has low efficiency of positioning the arm support.
According to a first aspect of the present invention, there is provided an arm support positioning apparatus, comprising: the boom state detection device is used for detecting the current position state of the vehicle boom and transmitting the current position state information to the control device; and the control device is used for controlling the execution action of each execution mechanism according to the current position state information and the calibration position state information and moving the arm support from the current position state to the calibration position state.
Further, the control device includes: an input signal unit for receiving the current position state information; the positioning unit is used for comparing the current position state information with the calibration position state information and determining the execution actions of each execution mechanism required by the arm support from the current position state to the calibration position state; and the output signal unit is used for sending execution signals to each execution mechanism and controlling each execution mechanism to execute corresponding actions.
Further, the control device further includes: and the storage unit is used for storing the state information of the calibration position.
Further, still include: the instruction sending device is used for sending a positioning instruction to the control device; the input signal unit is further configured to receive the positioning instruction, and the positioning unit performs positioning processing according to the positioning instruction.
Further, the positioning unit judges whether the duration time of the positioning instruction is greater than a set value, and if so, selects and determines a breaking-in device mode; wherein the break-in device mode comprises: a breaking hammer mode, a hydraulic shear mode and a grab bucket mode.
Further, if the input signal unit receives an error processing signal, the positioning unit releases the positioning processing; wherein the mishandling signal comprises: and when the positioning unit executes positioning processing, the positioning unit sends an operation signal of the command sending device and an error signal of the arm support state detection device.
Further, the boom state detection device includes: the main arm length sensor is used for measuring a length value of the main arm and transmitting the length value to the control device; the main arm angle sensor is used for measuring a first included angle between the main arm and the horizontal plane and transmitting the first included angle to the control device; the rotary encoder is used for measuring the angle value of the rotary table and transmitting the angle value of the rotary table to the control device; the front crank arm angle sensor is used for measuring a second included angle between the front crank arm and the rear crank arm and transmitting the second included angle to the control device; the rear crank arm angle sensor is used for measuring a third included angle between the rear crank arm and the main arm and transmitting the third included angle to the control device; and the breaking and dismantling device angle sensor is used for measuring a fourth included angle between the breaking and dismantling device and the front crank arm and transmitting the fourth included angle to the control device.
Further, the instruction transmitting apparatus includes: a wireless remote control device and a wireless receiver, or a wired operation device; wherein, the wireless remote control device sends the positioning instruction to the wireless receiver, and the wireless receiver forwards the received positioning instruction to the control device.
According to a second aspect of the present invention, there is provided a fire fighting vehicle comprising: the arm support positioning device is described above.
According to a third aspect of the present invention, there is provided a boom positioning method, including: the boom state detection device detects the current position state of the vehicle boom and transmits the current position state information to the control device; and the control device controls the execution action of each execution mechanism according to the current position state information and the calibration position state information, and moves the arm support from the current position state to the calibration position state.
Further, the control device controls the execution actions of each execution mechanism according to the current position state information and the calibration position state information, and the step of moving the boom from the current position state to the calibration position state comprises the following steps: the input signal unit receives the current position state information; the positioning unit compares the current position state information with the calibration position state information to determine the execution actions of each execution mechanism required by the arm support from the current position state to the calibration position state; and the output signal unit sends execution signals to each execution mechanism and controls each execution mechanism to execute corresponding actions.
Further, before the boom state detection device detects the current position state of the vehicle boom and transmits the current position state information to the control device, the method further includes: the instruction sending device sends a positioning instruction to the control device; the input signal unit receives the positioning instruction, and the positioning unit executes positioning processing according to the positioning instruction.
Further, before the positioning unit executes the positioning processing according to the positioning instruction, the method further includes: the positioning unit judges whether the duration time of the positioning instruction is greater than a set value, and if so, the mode of the forcible entry device is selected and determined; wherein the break-in device mode comprises: a breaking hammer mode, a hydraulic shear mode and a grab bucket mode.
Further, if the input signal unit receives an error processing signal, the positioning unit releases the positioning processing; wherein the mishandling signal comprises: and when the positioning unit executes positioning processing, the positioning unit sends an operation signal of the command sending device and an error signal of the arm support state detection device.
Further, the step that the boom state detection device detects the current position state of the vehicle boom and transmits the current position state information to the control device comprises the following steps: the main arm length sensor measures the length value of the main arm and transmits the length value to the control device; the main arm angle sensor measures a first included angle between the main arm and the horizontal plane and transmits the first included angle to the control device; the rotary encoder measures the angle value of the rotary table and transmits the angle value of the rotary table to the control device; the front crank arm angle sensor measures a second included angle between the front crank arm and the rear crank arm and transmits the second included angle to the control device; a rear crank arm angle sensor measures a third included angle between the rear crank arm and the main arm and transmits the third included angle to the control device; and the angle sensor of the breaking-in device measures a fourth included angle between the breaking-in device and the front crank arm, and transmits the fourth included angle to the control device.
In the invention, the current position state of the vehicle arm support is detected by an arm support state detection device, and the current position state information is transmitted to a control device; the control device determines the execution action of each execution mechanism according to the current position state information and the pre-stored calibration position state information, controls each execution mechanism to execute corresponding action, and moves the arm support from the current position state to the calibration position state, wherein the calibration position state is the arm support position state suitable for replacing the breaking-in device, so that the automatic positioning of the arm support is realized, and the arm support positioning efficiency is improved.
Furthermore, the invention can prevent the parts such as a cab, a pump chamber and the like from being collided due to improper manual operation, prevent the storage box of the breaking and dismantling device from being damaged and the like, and improve the safety in the positioning operation process.
Other features of the present invention and advantages thereof will become apparent from the following detailed description of exemplary embodiments thereof, which proceeds with reference to the accompanying drawings.
Drawings
The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments of the invention and together with the description, serve to explain the principles of the invention.
The invention will be more clearly understood from the following detailed description, taken with reference to the accompanying drawings, in which:
fig. 1A is a schematic view of a multifunctional break-in fire truck in the prior art.
Fig. 1B is a top view of a multifunctional break-in fire truck in the prior art.
Fig. 2 is a schematic diagram illustrating positioning of a boom of a manually operated multifunctional break-in fire truck in the prior art.
Fig. 3 is a schematic diagram illustrating structural connections of a boom positioning apparatus according to some embodiments of the present invention.
FIG. 4 is a full vehicle schematic diagram illustrating a fire truck according to some embodiments of the invention.
Fig. 5 is a schematic view illustrating structural connection of a boom positioning apparatus according to other embodiments of the present invention.
FIG. 6 is a schematic diagram illustrating a wireless remote control device according to some embodiments of the present invention.
Fig. 7 is a flow chart illustrating a boom positioning method according to some embodiments of the present invention.
Fig. 8 is a flowchart illustrating a boom positioning method according to other embodiments of the present invention.
Detailed Description
Various exemplary embodiments of the present invention will now be described in detail with reference to the accompanying drawings. It should be noted that: the relative arrangement of the components and steps, the numerical expressions and numerical values set forth in these embodiments do not limit the scope of the present invention unless specifically stated otherwise.
Meanwhile, it should be understood that the sizes of the respective portions shown in the drawings are not drawn in an actual proportional relationship for the convenience of description.
The following description of at least one exemplary embodiment is merely illustrative in nature and is in no way intended to limit the invention, its application, or uses.
Techniques, methods, and apparatus known to those of ordinary skill in the relevant art may not be discussed in detail but are intended to be part of the specification where appropriate.
In all examples shown and discussed herein, any particular value should be construed as merely illustrative, and not limiting. Thus, other examples of the exemplary embodiments may have different values.
It should be noted that: like reference numbers and letters refer to like items in the following figures, and thus, once an item is defined in one figure, further discussion thereof is not required in subsequent figures.
Fig. 3 is a schematic diagram illustrating structural connections of a boom positioning apparatus according to some embodiments of the present invention. As shown in fig. 3, the boom positioning apparatus 300 includes: a boom state detection device 301 and a control device (e.g., a controller) 302, the boom state detection device being electrically connected to the control device, and for illustrative purposes, each actuator 311 and boom 312 are also shown in fig. 3. Wherein,
the boom state detection device 301 is configured to detect a current position state of the vehicle boom 312 and transmit current position state information to the control device 302; and
the control device 302 is configured to control the execution action of each execution mechanism 311 according to the current position state information and the calibration position state information, and move the boom 312 from the current position state to the calibration position state.
In the embodiment, the current position state of the vehicle arm support is detected by the arm support state detection device, and the current position state information is transmitted to the control device; the control device determines the execution action of each execution mechanism according to the current position state information and the pre-stored calibration position state information, controls each execution mechanism to execute corresponding action, and moves the arm support from the current position state to the calibration position state, wherein the calibration position state is the position state of the arm support suitable for replacing the breaking-in device, so that the automatic positioning of the arm support is realized, and the arm support positioning efficiency is improved. Furthermore, the collision of parts such as a cab, a pump chamber and the like caused by improper manual operation can be prevented, the damage to a storage box of the breaking and dismantling device and the like can be prevented, and the safety in the positioning operation process is improved.
In one embodiment, the control device sends execution signals to each execution mechanism after determining the execution action of each execution mechanism according to the current position state information and the calibration position state information, and each execution mechanism drives the arm support structure to complete corresponding action through the hydraulic execution element according to the received execution signals.
FIG. 4 is a full vehicle schematic diagram illustrating a fire truck according to some embodiments of the invention. As shown in fig. 4, the arm support 412 includes: main arm 4121, revolving stage 4122, breaking-in device 4123, back crank arm 4124, front crank arm 4125 and quick change coupler 4126.
In one embodiment, the boom state detection device detects the current position state of the boom, that is, the current state of each component of the boom, for example, detects a length value of the main arm, an included angle between the main arm and a horizontal plane, an angle value of the turntable, an included angle between the front curved arm and the rear curved arm, an included angle between the rear curved arm and the main arm, or an included angle between the breaking device and the front curved arm. And obtaining the current position state of the arm support by obtaining the parameter values.
In one embodiment, as shown in fig. 4, the boom state detection device may include: a main arm length sensor 4011, a main arm angle sensor 4012, a rotary encoder 4013, a front crank arm angle sensor 4014, a rear crank arm angle sensor 4015, and a demolition device angle sensor 4016.
The main arm length sensor 4011 is mounted on the main arm 4121, and measures a length value of the main arm and transmits the length value to a control device (not shown in fig. 4).
The main arm angle sensor 4012 is installed at a connection position of the main arm 4121 and the rotary table 4122, and is configured to measure an included angle between the main arm and the horizontal plane, which is recorded as a first included angle, and transmit the first included angle to the control device (not shown in fig. 4).
The rotary encoder 4013 is installed in the turntable 4122 to measure an angle value of the turntable and transmit the angle value of the turntable to a control device (not shown in fig. 4). For example, the measurement range of the rotary encoder may be 0 to 360 °.
Front crank arm angle sensor 4014 is installed at the junction of front crank arm 4125 and rear crank arm 4124, and is used to measure the included angle between the front crank arm and the rear crank arm, which is recorded as a second included angle, and transmit the second included angle to a control device (not shown in fig. 4).
The rear crank arm angle sensor 4015 is installed at a connection position of the rear crank arm 4124 and the main arm 4121, and is configured to measure an included angle between the rear crank arm and the main arm, record the measured included angle as a third included angle, and transmit the third included angle to the control device (not shown in fig. 4).
The breaking-in device angle sensor 4016 is installed at a joint of the breaking-in device 4123 and the front curved arm 4125, and is configured to measure an included angle between the breaking-in device and the front curved arm, record the included angle as a fourth included angle, and transmit the fourth included angle to the control device (not shown in fig. 4).
In the embodiment of the present invention, the control device stores calibration position state information of the boom suitable for replacing the breaking-in device in advance, for example, the boom may be manually positioned to a position suitable for replacing the breaking-in device, then the boom state detection device detects state information of each component of the boom, such as a length value of the main arm, a first included angle between the main arm and a horizontal plane, an angle value of the turntable, a second included angle between the front curved arm and the rear curved arm, a third included angle between the rear curved arm and the main arm, and a fourth included angle between the breaking-in device and the front curved arm, and the like, and the control device stores these parameter values as the calibration position state information.
When the arm support positioning equipment carries out automatic positioning, the arm support state detection device detects the current position state of the arm support in real time and transmits the current position state information to the control device; the control device compares the current position state information with the stored calibration position state information, and determines the execution action of each execution mechanism by calculating the difference value between corresponding parameter values.
In one embodiment, in calculating the main arm length difference,
length difference is the nominal length value-current length value,
if the length difference value is a positive value, the control device controls the corresponding executing mechanism of the main arm to execute the action, so that the main arm extends by the length difference value; if the length difference is negative, the control device controls the corresponding actuator of the main arm to perform action, so that the main arm retracts to the absolute value of the length difference.
In one embodiment, in calculating the difference between the first angles of the main arms from the horizontal plane,
the first included angle difference is a calibrated first included angle value-the current first included angle value,
if the first included angle difference value is a positive value, the control device controls the corresponding executing mechanism of the main arm to execute actions, so that the main arm rotates in the vertical plane, and the first included angle difference value is increased; if the difference value of the first included angle is a negative value, the control device controls the corresponding executing mechanism of the main arm to execute actions, so that the main arm rotates in the vertical plane, and the absolute value of the difference value of the first included angle is reduced.
In one embodiment, in calculating the angular difference of the turntable,
the difference value of the angle of the rotary table is equal to the calibration angle value of the rotary table-the current angle value of the rotary table,
if the angle difference value of the rotary table is a positive value and is less than or equal to 180 degrees, the control device controls the corresponding actuating mechanism of the rotary table to execute actions, so that the rotary table rotates clockwise (viewed from the upper part of the rotary table downwards) in the horizontal plane by the angle difference value of the rotary table; if the angle difference value of the rotary table is a positive value and is larger than 180 degrees, the control device controls the corresponding actuating mechanism of the rotary table to execute actions, so that the rotary table rotates anticlockwise (downwards seen from the upper part of the rotary table) in a horizontal plane by a first actual angle difference value, wherein the first actual angle difference value is 360 degrees-the angle difference value of the rotary table; if the angle difference value of the rotary table is a negative value and the absolute value of the angle difference value of the rotary table is less than or equal to 180 degrees, the control device controls the corresponding actuating mechanism of the rotary table to execute actions, so that the rotary table rotates anticlockwise (when viewed downwards from the upper part of the rotary table) in the horizontal plane; if the angle difference value of the rotary table is a negative value and the absolute value of the angle difference value is larger than 180 degrees, the control device controls the corresponding actuating mechanism of the rotary table to execute actions, so that the rotary table rotates clockwise (downwards seen from the upper part of the rotary table) in the horizontal plane by a second actual angle difference value, wherein the second actual angle difference value is 360 degrees plus the angle difference value of the rotary table. Through the processing, the rotary table can be rotated to the target angle quickly. Of course, the target angle may be achieved by other rotation manners, for example, when the turntable angle difference is a positive value, the turntable angle difference is rotated clockwise, and when the turntable angle difference is a negative value, the absolute value of the turntable angle difference is rotated counterclockwise. Those skilled in the art will appreciate that there are other ways of rotation, which are not described in detail herein.
In one embodiment, in calculating the difference in the second angle between the front and rear crank arms,
the second included angle difference is a calibrated second included angle value-the current second included angle value,
if the difference value of the second included angle is a positive value, the control device controls an actuating mechanism corresponding to the front crank arm to execute actions, so that the front crank arm rotates in the vertical plane, and the difference value of the second included angle is increased; if the difference value of the second included angle is a negative value, the control device controls the corresponding actuating mechanism of the front crank arm to execute actions, so that the front crank arm rotates in the vertical plane, and the absolute value of the difference value of the second included angle is reduced.
In one embodiment, in calculating the difference in the third angle between the back crank arm and the main arm,
the third included angle difference is a calibrated third included angle value-the current third included angle value,
if the difference value of the third included angle is a positive value, the control device controls an actuating mechanism corresponding to the rear crank arm to execute actions, so that the rear crank arm rotates in the vertical plane, and the difference value of the third included angle is increased; if the difference value of the third included angle is a negative value, the control device controls the corresponding actuating mechanism of the rear crank arm to execute actions, so that the rear crank arm rotates in the vertical plane, and the absolute value of the difference value of the third included angle is reduced.
In one embodiment, in calculating the difference in the fourth angle between the breaking-in device and the front curved arm,
the fourth included angle difference is a calibrated fourth included angle value-the current fourth included angle value,
if the difference value of the fourth included angle is a positive value, the control device controls an actuating mechanism corresponding to the breaking-in device to execute actions, so that the breaking-in device rotates in the vertical plane, and the difference value of the fourth included angle is increased; if the difference value of the fourth included angle is a negative value, the control device controls the corresponding actuating mechanism of the breaking-in device to execute actions, so that the breaking-in device rotates in the vertical plane, and the absolute value of the difference value of the fourth included angle is reduced.
In the embodiment of the invention, in the process of moving the boom from the current position state to the calibration position state, in order to prevent some components (such as the front crank arm and the like) of the boom from colliding with the main arm or other devices on the vehicle, the included angle between the rear crank arm and the main arm needs to be unfolded (i.e. increased) to a certain angle, or the included angle between the main arm and the horizontal plane needs to be unfolded to a certain angle, and the like, and after other components of the boom reach the calibration position state, the rear crank arm or the main arm is dropped back to the calibration position state, so that the safety in the implementation process is improved.
For example, (1) the current location state is: the included angle between the main arm and the horizontal plane is 70 degrees, the rotation angle of the rotary table is 60 degrees (the rotation angle of the arm support is 0 degree, the clockwise rotation is 0-360 degrees (seen from the upper part of the rotary table), the included angle between the front crank arm and the rear crank arm is 120 degrees, the included angle between the rear crank arm and the main arm is 60 degrees, the included angle between the breaking-in device and the front crank arm is 120 degrees, and the main arm is fully contracted. (2) The calibration position state is as follows: the included angle between the main arm and the horizontal plane is 50 degrees, the rotation angle of the rotary table is 5 degrees, the included angle between the front crank arm and the rear crank arm is 180 degrees, the included angle between the rear crank arm and the main arm is 55 degrees, the included angle between the breaking-in device and the front crank arm is 130 degrees, and the main arm is fully contracted. The positioning procedure may be as follows:
A. the included angle of 60 degrees between the rear crank arm and the main arm is changed into the included angle of 70 degrees between the rear crank arm and the main arm, the included angle of 120 degrees between the current front crank arm and the rear crank arm, the included angle of 120 degrees between the breaking-in device and the front crank arm does not meet the condition that the included angle of the final front crank arm and the rear crank arm is 180 degrees, and the included angle of 130 degrees between the breaking-in device and the front crank arm is 130 degrees, so that the adjustment is needed, but in order to prevent the danger that the front crank arm is unfolded to 180 degrees and the breaking-in device is unfolded to 130 degrees, the main arm is collided, and the rear.
B. Changing the included angle of 120 degrees between the front crank arm and the rear crank arm into the included angle of 180 degrees between the front crank arm and the rear crank arm;
changing the included angle of 120 degrees between the breaking-in device and the front curved arm into the included angle of 130 degrees between the breaking-in device and the front curved arm;
the rotation angle of the rotary table is changed from 60 degrees to 5 degrees (anticlockwise rotation);
at the moment, because the included angle between the rear crank arm and the main arm reaches a safe angle, the front crank arm and the breaking-in device cannot collide with any barrier in the adjusting process, the front crank arm and the breaking-in device are unfolded to a required angle at the same time, the aim of improving the efficiency is taken into consideration, the turning action can be simultaneously carried out, and because the current turning angle turns to 5 degrees anticlockwise and only 55 degrees of turning range is needed, a relatively efficient anticlockwise turning mode is selected.
C. When the main arm falls to the state that the included angle between the main arm and the horizontal plane is 50 degrees, and other states meet the positioned position, the angle of the main arm is adjusted, and the main arm falls to the corresponding angle.
The boom positioning equipment can store the set position parameter information detected by the boom state detection device into the control device as the calibration position state information, provide an execution action path reaching the calibration position according to the current state of the boom (the execution action path is the execution action required by each execution mechanism), automatically run to the target position selected by the operator, reduce the participation of the operator and improve the efficiency of replacing the breaking-in device of the multifunctional breaking-in fire truck.
In addition, the invention is suitable for the same type of multifunctional forcible entry fire truck, the parameter information of the set position is calibrated to the control device, the automatic positioning function can be realized, the calibrated value can be corrected at any time according to the actual condition, and the flexibility of the automatic positioning function is improved.
Fig. 5 is a schematic view illustrating structural connection of a boom positioning apparatus according to other embodiments of the present invention. As shown in fig. 5, the boom positioning apparatus 500 includes: the boom state detection device 501 and the control device 502, and further, for the purpose of illustration, each actuator 511 and the boom 512 are also shown in fig. 5, wherein the boom state detection device 501, the control device 502, each actuator 511 and the boom 512 are similar to the boom state detection device 301, the control device 302, each actuator 311 and the boom 312 described in fig. 3.
In an embodiment of the present invention, the control means 502 comprises: the signal processing device comprises an input signal unit 5021, a positioning unit 5022 and an output signal unit 5023, wherein the input signal unit 5021, the positioning unit 5022 and the output signal unit 5023 are electrically connected. The input signal unit 5021 is used for receiving current position state information; the positioning unit 5022 is used for comparing the current position state information with the calibration position state information and determining the execution actions of each execution mechanism required by the arm support from the current position state to the calibration position state; the output signal unit 5023 is used for sending execution signals to each actuator and controlling each actuator to execute corresponding actions.
In one embodiment, the control device 502 further comprises: the storage unit 5024 is used for storing the calibration position state information. For example, the boom may be manually positioned to a position suitable for replacing the breaking-in device, the boom state detection device detects state information of each component of the boom, such as a length value of the main arm, a first included angle between the main arm and a horizontal plane, an angle value of the turntable, a second included angle between the front curved arm and the rear curved arm, a third included angle between the rear curved arm and the main arm, a fourth included angle between the breaking-in device and the front curved arm, and the like, and the boom state detection device inputs these parameter values into the control device and stores the parameter values in the storage unit as the calibration position state information. According to different working conditions, different calibration position state information can be stored in the storage unit so as to deal with different complex working conditions in rescue operation.
In an embodiment of the present invention, the boom positioning apparatus 500 further includes: a command transmitting device 503 electrically connected to the control device 502 (for example, electrically connected to the input signal unit 5021) and configured to transmit a positioning command to the control device; the input signal unit 5021 is further configured to receive the positioning instruction, and the positioning unit 5022 executes positioning processing according to the positioning instruction, that is, according to the current position state information and the calibration position state information, each executing mechanism is controlled to act, and the boom is moved from the current position state to the calibration position state.
In one embodiment, the instruction transmitting apparatus may include: a wireless remote control (e.g., as shown in fig. 6) and a wireless receiver; the wireless remote control device sends a positioning instruction to the wireless receiver, and the wireless receiver forwards the received positioning instruction to the control device. For example, as shown in fig. 6, the wireless remote control device may include: the action handle, the positioning switch, the mode selection switch, the water cannon control switch, the shearing/grabbing control switch, the breaking and dismantling control switch and the like transmit operation data to the wireless receiver, so that an operator can conveniently remotely control the breaking and dismantling vehicle to act; the wireless receiver receives the data sent by the wireless remote control device and transmits the data to the control device.
In another embodiment, the instruction transmitting apparatus may include: and the wired operating device is electrically connected with the control device and is used for sending a positioning command to the control device. For example, the wired operation device may include: the operation data is sent to the control device by the action handle, the positioning switch, the mode selection switch, the water cannon control switch, the shearing/grabbing control switch, the breaking and dismantling control switch and the like, so that an operator can conveniently operate the breaking and dismantling vehicle to act.
In the embodiment of the invention, before the positioning unit executes the positioning processing, the positioning unit judges whether the duration of the positioning instruction is greater than a set value, and if so, the mode of determining the breaking-in device is selected; wherein, broken dismouting is put the mode and is included: a breaking hammer mode, a hydraulic shear mode and a grab bucket mode. In this embodiment, the positioning unit determines whether the duration of the positioning instruction is greater than a set value, which is a condition setting for preventing an erroneous operation. If the automatic positioning operation is executed by pressing down the switch without adding any delay operation, unexpected action operation can be caused, so that misoperation occurs, and the occurrence of misoperation can be prevented by adding a certain delay. Because broken dismouting is put including: the positions of replacing corresponding breaking-in devices are different for different breaking-in devices, for example, the position of replacing the breaking-in hammer is different from the position of replacing the hydraulic shear, therefore, for each breaking-in device, a corresponding calibration position can be set, namely corresponding calibration position state information is stored, different breaking-in device modes, namely a breaking-in hammer mode, a hydraulic shear mode and a grab bucket mode, are correspondingly set according to different breaking-in devices, and then when the arm support is positioned, the corresponding breaking-in device mode is selected according to the breaking-in device needing to be replaced, so that the corresponding arm support positioning is realized.
In the embodiment, an operator manually operates the multifunctional break-in fire truck to move the arm support to a position suitable for replacing the break-in device, and the relevant parameter values of the current position state information of the arm support at the moment are calibrated to the control device; when automatic positioning is carried out, the control device receives a positioning instruction from the instruction sending device, judges whether the duration time of the positioning instruction (namely the time for pressing the automatic positioning switch of the wireless remote control device) is more than a set value, if the time exceeds the set value and one of a breaking hammer mode, a hydraulic shear mode or a grab bucket mode is selected, an automatic positioning function (namely positioning processing) is executed, otherwise, the automatic positioning function cannot be started normally, and the positioning unit calculates related parameter values of calibration position state information on the premise of ensuring the motion safety of the arm support of the fire fighting truck, and provides an execution action path reaching a calibration position.
In the embodiment of the invention, if the input signal unit receives the error processing signal, the positioning unit releases the positioning processing; wherein, the signal of mistake processing includes: when the positioning unit executes the positioning processing, the operation signal of the instruction sending device and the error signal of the arm support state detection device are sent. For example, after the positioning process is started, if any switch, handle, turntable pedal or sensor error condition occurs on the wireless remote control device is operated, that is, the input signal unit receives the error processing signal, the positioning unit cancels the positioning process, and if the condition for canceling the positioning process is not triggered, the positioning unit continuously calculates and judges the relevant parameter value of the required calibration position state information and drives the arm support to move to the calibration position all the time.
The present invention also provides a fire fighting vehicle (e.g., as shown in fig. 4) comprising: the boom positioning apparatus described above (e.g., the boom positioning apparatus 300 shown in fig. 3 or the boom positioning apparatus 500 shown in fig. 5).
Fig. 7 is a flow chart illustrating a boom positioning method according to some embodiments of the present invention.
In step S701, the boom state detection apparatus detects a current position state of the vehicle boom, and transmits current position state information to the control apparatus.
In step S702, the control device controls the execution of each actuator according to the current position state information and the calibration position state information, and moves the boom from the current position state to the calibration position state.
In the embodiment, the current position state of the vehicle arm support is detected by the arm support state detection device, and the current position state information is transmitted to the control device; the control device determines the execution action of each execution mechanism according to the current position state information and the pre-stored calibration position state information, controls each execution mechanism to execute corresponding action, and moves the arm support from the current position state to the calibration position state, wherein the calibration position state is the position state of the arm support suitable for replacing the breaking-in device, so that the automatic positioning of the arm support is realized, and the arm support positioning efficiency is improved. Furthermore, the collision of parts such as a cab, a pump chamber and the like caused by improper manual operation can be prevented, the damage to a storage box of the breaking and dismantling device and the like can be prevented, and the safety in the positioning operation process is improved.
In an embodiment of the present invention, a control device includes: the device comprises an input signal unit, a positioning unit and an output signal unit; the control device controls the execution action of each execution mechanism according to the current position state information and the calibration position state information, and the step of moving the arm support from the current position state to the calibration position state comprises the following steps: the input signal unit receives the current position state information; the positioning unit compares the current position state information with the calibration position state information to determine the execution actions of each execution mechanism required by the arm support from the current position state to the calibration position state; and the output signal unit sends execution signals to each execution mechanism and controls each execution mechanism to execute corresponding actions.
In an embodiment of the present invention, before the boom state detection device detects the current position state of the vehicle boom and transmits the current position state information to the control device, the boom positioning method further includes: the instruction sending device sends a positioning instruction to the control device; the input signal unit receives a positioning instruction, and the positioning unit executes positioning processing according to the positioning instruction.
In an embodiment of the present invention, the control device further comprises: a storage unit; before the instruction sending device sends the positioning instruction to the control device, the boom positioning method further comprises the following steps: the storage unit stores the calibration position state information, for example, the arm support position state parameter information (i.e., the calibration position state information) suitable for replacing the breaking-in device is calibrated to the control device through manual operation.
In the embodiment of the present invention, before the positioning unit performs the positioning process according to the positioning instruction, the boom positioning method further includes: the positioning unit judges whether the duration time of the positioning instruction is greater than a set value, and if so, the mode of the forcible entry device is selected and determined; wherein, broken dismouting is put the mode and is included: a breaking hammer mode, a hydraulic shear mode and a grab bucket mode. In the embodiment, the positioning unit judges whether the duration of the positioning instruction is greater than a set value, so that condition setting for preventing misoperation is added, and misoperation is prevented. In addition, different modes can be selected according to different breaking and dismantling devices, and therefore different complex working conditions can be met.
In the embodiment of the invention, if the input signal unit receives the error processing signal, the positioning unit releases the positioning processing; wherein, the signal of mistake processing includes: when the positioning unit executes the positioning processing, the operation signal of the instruction sending device and the error signal of the arm support state detection device are sent. By adding the step of canceling the positioning processing during the error processing, the occurrence of the fault can be prevented, and the safe work can be ensured.
In an embodiment of the present invention, the boom state detection device may include: the device comprises a main arm length sensor, a main arm angle sensor, a rotary encoder, a front crank arm angle sensor, a rear crank arm angle sensor and a breaking-in device angle sensor; the method for detecting the current position state of the vehicle arm support by the arm support state detection device and transmitting the current position state information to the control device comprises the following steps: the main arm length sensor measures the length value of the main arm and transmits the length value to the control device; the main arm angle sensor measures a first included angle between the main arm and the horizontal plane and transmits the first included angle to the control device; the rotary encoder measures the angle value of the rotary table and transmits the angle value of the rotary table to the control device; the front crank arm angle sensor measures a second included angle between the front crank arm and the rear crank arm and transmits the second included angle to the control device; the rear crank arm angle sensor measures a third included angle between the rear crank arm and the main arm and transmits the third included angle to the control device; and the forcible entry device angle sensor measures a fourth included angle between the forcible entry device and the front curved arm and transmits the fourth included angle to the control device.
Fig. 8 is a flowchart illustrating a boom positioning method according to other embodiments of the present invention.
In step S801, the calibration position state information is stored. For example, the boom is moved to a position state suitable for replacing the breaking-in device, the boom state detection device transmits the acquired state parameters of the corresponding parts of the boom to the control device, and the control device stores the state parameters as the calibration position state information.
In step S802, a positioning instruction is received.
In step S803, it is determined whether the duration of the positioning instruction is greater than a set value. If so, the process proceeds to step S804, otherwise to step S805.
In step S804, it is determined which of the demolition device modes is used. If a certain type of breaking-in apparatus is selected, the process proceeds to any of steps S806 to S808, otherwise, to step S805.
In step S805, the positioning process is not started. I.e. the automatic positioning function is not activated.
In step S806, the hammer breaking mode is determined.
In step S807, the hydraulic shear mode is determined.
In step S808, the grapple mode is determined.
In step S809, the actuator is controlled according to the current position status information and the calibration position status information, so as to move the boom from the current position status to the calibration position status.
In step S810, it is determined whether an error processing signal is received. If so, the process proceeds to step S811, otherwise to step S812.
In step S811, the positioning process is released. I.e. the automatic positioning function is deactivated.
In step S812, it is determined whether the calibration position state is reached. If so, the process ends, otherwise the process returns to step S809.
In the embodiment, the calibration position state information is stored in the control device in advance, when automatic positioning is carried out, an instruction is sent to the control device through the positioning operation and the mode selection of the instruction sending device, the control device automatically stretches each arm of the multifunctional break-in fire truck to the calibration position according to a preset positioning program, so that the quick-change connector accurately reaches the break-in device storage box, preparation work is carried out for replacing the break-in device, and the efficiency of replacing the break-in device is effectively improved.
Thus far, the present invention has been described in detail. Some details well known in the art have not been described in order to avoid obscuring the concepts of the present invention. It will be fully apparent to those skilled in the art from the foregoing description how to practice the presently disclosed embodiments.
The method and system of the present invention may be implemented in a number of ways. For example, the methods and systems of the present invention may be implemented in software, hardware, firmware, or any combination of software, hardware, and firmware. The above-described order for the steps of the method is for illustrative purposes only, and the steps of the method of the present invention are not limited to the order specifically described above unless specifically indicated otherwise. Furthermore, in some embodiments, the present invention may also be embodied as a program recorded in a recording medium, the program including machine-readable instructions for implementing a method according to the present invention. Thus, the present invention also covers a recording medium storing a program for executing the method according to the present invention.
Although some specific embodiments of the present invention have been described in detail by way of illustration, it should be understood by those skilled in the art that the above illustration is only for the purpose of illustration and is not intended to limit the scope of the invention. It will be appreciated by those skilled in the art that modifications may be made to the above embodiments without departing from the scope and spirit of the invention. The scope of the invention is defined by the appended claims.
Claims (15)
1. An arm support positioning device, characterized by comprising:
the boom state detection device is used for detecting the current position state of the vehicle boom and transmitting the current position state information to the control device; and
and the control device is used for controlling the execution action of each execution mechanism according to the current position state information and the calibration position state information and moving the arm support from the current position state to the calibration position state.
2. The boom positioning apparatus of claim 1, wherein:
the control device includes:
an input signal unit for receiving the current position state information;
the positioning unit is used for comparing the current position state information with the calibration position state information and determining the execution actions of each execution mechanism required by the arm support from the current position state to the calibration position state; and
and the output signal unit is used for sending execution signals to each execution mechanism and controlling each execution mechanism to execute corresponding actions.
3. The boom positioning apparatus of claim 2, wherein:
the control device further includes:
and the storage unit is used for storing the state information of the calibration position.
4. The boom positioning apparatus of claim 2, further comprising:
the instruction sending device is used for sending a positioning instruction to the control device;
the input signal unit is further configured to receive the positioning instruction, and the positioning unit performs positioning processing according to the positioning instruction.
5. The boom positioning apparatus of claim 4, wherein:
the positioning unit judges whether the duration time of the positioning instruction is greater than a set value, and if so, the mode of the forcible entry device is selected and determined;
wherein the break-in device mode comprises: a breaking hammer mode, a hydraulic shear mode and a grab bucket mode.
6. The boom positioning apparatus of claim 5, wherein:
if the input signal unit receives the error processing signal, the positioning unit releases the positioning processing;
wherein the mishandling signal comprises: and when the positioning unit executes positioning processing, the positioning unit sends an operation signal of the command sending device and an error signal of the arm support state detection device.
7. The boom positioning apparatus of claim 1, wherein:
the boom state detection device comprises:
the main arm length sensor is used for measuring a length value of the main arm and transmitting the length value to the control device;
the main arm angle sensor is used for measuring a first included angle between the main arm and the horizontal plane and transmitting the first included angle to the control device;
the rotary encoder is used for measuring the angle value of the rotary table and transmitting the angle value of the rotary table to the control device;
the front crank arm angle sensor is used for measuring a second included angle between the front crank arm and the rear crank arm and transmitting the second included angle to the control device;
the rear crank arm angle sensor is used for measuring a third included angle between the rear crank arm and the main arm and transmitting the third included angle to the control device; and
and the forcible entry device angle sensor is used for measuring a fourth included angle between the forcible entry device and the front crank arm and transmitting the fourth included angle to the control device.
8. The boom positioning apparatus of claim 4, wherein:
the instruction transmitting apparatus includes: a wireless remote control device and a wireless receiver, or a wired operation device;
wherein, the wireless remote control device sends the positioning instruction to the wireless receiver, and the wireless receiver forwards the received positioning instruction to the control device.
9. A fire fighting vehicle, comprising: the boom positioning apparatus of claims 1 to 8.
10. A boom positioning method is characterized by comprising the following steps:
the boom state detection device detects the current position state of the vehicle boom and transmits the current position state information to the control device; and
and the control device controls the execution action of each execution mechanism according to the current position state information and the calibration position state information, and moves the arm support from the current position state to the calibration position state.
11. The boom positioning method according to claim 10, wherein the control device controls the execution of each actuator according to the current position state information and the calibration position state information, and the step of moving the boom from the current position state to the calibration position state comprises:
the input signal unit receives the current position state information;
the positioning unit compares the current position state information with the calibration position state information to determine the execution actions of each execution mechanism required by the arm support from the current position state to the calibration position state; and
the output signal unit sends execution signals to the execution mechanisms and controls the execution mechanisms to execute corresponding actions.
12. The boom positioning method according to claim 11, wherein before the boom state detection device detects the current position state of the vehicle boom and transmits the current position state information to the control device, the method further comprises:
the instruction sending device sends a positioning instruction to the control device;
the input signal unit receives the positioning instruction, and the positioning unit executes positioning processing according to the positioning instruction.
13. The boom positioning method according to claim 12, wherein before the positioning unit performs the positioning process according to the positioning instruction, the method further comprises:
the positioning unit judges whether the duration time of the positioning instruction is greater than a set value, and if so, the mode of the forcible entry device is selected and determined;
wherein the break-in device mode comprises: a breaking hammer mode, a hydraulic shear mode and a grab bucket mode.
14. The boom positioning method according to claim 13, wherein:
if the input signal unit receives the error processing signal, the positioning unit releases the positioning processing;
wherein the mishandling signal comprises: and when the positioning unit executes positioning processing, the positioning unit sends an operation signal of the command sending device and an error signal of the arm support state detection device.
15. The boom positioning method according to claim 10, wherein the step of detecting the current position state of the vehicle boom by the boom state detection device and transmitting the current position state information to the control device comprises:
the main arm length sensor measures the length value of the main arm and transmits the length value to the control device;
the main arm angle sensor measures a first included angle between the main arm and the horizontal plane and transmits the first included angle to the control device;
the rotary encoder measures the angle value of the rotary table and transmits the angle value of the rotary table to the control device;
the front crank arm angle sensor measures a second included angle between the front crank arm and the rear crank arm and transmits the second included angle to the control device;
a rear crank arm angle sensor measures a third included angle between the rear crank arm and the main arm and transmits the third included angle to the control device; and
the broken device angle sensor measures a fourth included angle between the broken device and the front crank arm and transmits the fourth included angle to the control device.
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| CN201510096946.7A CN104800995A (en) | 2015-03-04 | 2015-03-04 | Boom positioning equipment, firefighting truck and method |
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| CN201510096946.7A CN104800995A (en) | 2015-03-04 | 2015-03-04 | Boom positioning equipment, firefighting truck and method |
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